%0 Conference Paper
%A Hernandez Perdomo, Wilmar
%A Cañas de Paz, Norberto
%B 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.
%C Melbourne, Australia
%D 2011
%F upm:13307
%I IEEE
%P 2678-2683
%T Non-linear Control of an Autonomous Ground Vehicle
%U https://oa.upm.es/13307/
%X In this paper, in order to select a speed controller for a specific non-linear autonomous ground vehicle, proportional-integral-derivative (PID), Fuzzy, and linear quadratic regulator (LQR) controllers were designed. Here, in order to carry out the tuning of the above controllers, a multicomputer genetic algorithm (MGA) was designed. Then, the results of the MGA were used to parameterize the PID, Fuzzy and LQR controllers and to test them under laboratory conditions. Finally, a comparative analysis of the performance of the three controllers was conducted.